Rate and reset rebalanceable control system



Jan. 12, 1954 E. T. DAVIS RATE AND RESET REBALANCEABLE CONTROL SYSTEM Filed March 15, 1950 5 Sheets-Sheet l INVENT OR. 7 ELWOOD T. DAVIS ATTORNEYS.

Jan. 12, 1954 E. T. DAVIS RATE AND'RESET REBALANCEABLE CONTROL SYSTEM Filed March 15, 1950 '5 Sheets-Sheet 2 l 5 Motor Qonirol INVENTOR. ELWOOD T. DAVIS ATTORNEYS.

E. T. DAVIS 2,666,170

RATE AND RESET REBALANCEABLE CONTROL SYSTEM 5 Sheets-Sheet 5 Jan. 12 1954 Filed March 15 1950 n g v 7L 2 K? 53 i (D b S 6 ID/ U 5 a o 3' 4 INVENTOR;

ELWOOD T. DAVIS 09 BY 7' ATTORNEY$..

Jan. 12, 1954 v g RATE AND RESET REBALANCEABLE CONTROL SYSTEM 5 Sheets-Sheet 4 Filed March 15, 1950 INVENTOR. ELWOOD T; DAVIS ATTORNEYS.

Jan. 12, 1954 E V s 2,666,170

RATE AND RESET REBALANCEABLE CONTROL SYSTEM Filed March 15, 1950 5 Sheets-Sheet 5 v F/ga INVENTOR.

ELWOOD T DAVIS BY M ATTORNEYS.

Patented Jan. 12, 1954 RATE-AND RESET REBALANCEABLEY.

CONTROL SYSTEM Elwood T.- Davis, Havertown,- Pa., assignor to Leeds andNorthrup Company, Philadelphia, Pa., a corporation of Pennsylvania.

AppiicationMarch 15, 1950, Serialllo, 149,175,

31 Claims.

This inventionrelates to the automatic control of variable physical characteristics such, foreaample, as temperature or pressure or, other conditions, and more particularly to an electrical systern which provides proportioning control plus reset action and adjustable rateaction in the op eration of the condition-controlling or. compenr sating means.

The invention relates particularly to. electrical systems of the-type disclosed in Callender et, al. Patent No. 2,175,985. In that. patent there are disclosed systems which provide, proportioning control action, reset action, and rateaction, but such systemsleave much to. be desired in stabilized action of the electrical networkincluding the circuit-adjusting element operable, with the compensating means which adjuststhevalue of. the characteristic under control.

In carrying out the invention in one form thereoi, a responsive meanspperable in response to the. deviations of the cl aracteristic from. a de-. sired value is utilized. ,to adjust a circuit element, such as a slidewire resistor. of an electrical network to produce in the networks v voltage Whose magnitude is underthe control of said responsive means. The network is provided with a second circuit element, such as a slidewireresistor, for producing in the networks. second voltage whose magnitude is varied in accordance with -3111 pensating means which may bea. valve, or a rheostat operable by suitable driving means such, for example, as a motor. The arrangement: is such that upon the production-of the first voltage by the responsive means, the compensating means is adjusted to vary thesecond voltageuntil it'is equal and opposed to the first voltage to rebalance the networlc In this manner there isprovided theproportional control action. More par: ticularly, the unbalance between-the two voltages in the network is applied to the input circuitoi anamplifier whose output controls the operation of the motor. Bymeansci-a resistoranda capacitor associated with the input circuitto the amplifier, there is provided control of operation ofthe compensating means in accordance with the summation of the'deviation from a desired value, this adjustment ordinarily being known as reset or droop-corrector action.

In accordance with the present invention; the network is provided with; an attenuating resistor in the amplifier-input circuit and a capacitor in series with a resistorin a branch of the network. which is not directly inseries with the input circuit to the amplifierforproducing a controlled rate adjustment, a major-component of which varies with rate of "change of the variable characteristic.- The resistor-in the branch-circuit and the attenuating resistor in-the-input circuit'are mechanically joined together for simultaneous adjustment Upon adjustment in one direction, the resistance of the resistors in their respective circuits is increased and upon adjustment in the opposite direction the resistance introducedinto their respective circuits isdecreased. While the magnitude of the rate adjustment is under the control of the attenuating resistor in theinput circuit to theamplifier, the resistor in the branch circuit is simultaneously adjusted in order that there shall be maintained stabilized operationof the motordriving the compensating means. The resistor in the branch circuit always maintains therein a'resistance bearing a predetermined re,- lation with that in series withthe input circuit of the amplifier. Preferably a fixed resistance. is also maintained in the branch; circuit for stabili: zation. forcaseswhen both of the other resistors areadjusted to minimum or zero values.

Inaccordance with, further aspects of the. invention, there are provided additional ieatures taking advantage of, the circuit arrangement as awhole andjncludingan arrangement by means of which-the-position of the compensating means maybe determined atany time without disturbingthe adjustmentof the network or the control action due tothe component parts of the network. Additionally, further control features. are provided of a type particularly usefulin startingnp the system as a whole. These additional features will be-later pointed out withflgreaterparticur larity;

For further objects and advantages of the invention and ior adiscussion of said additional features; reference is to. be had to the following description taken in conjunction with the accompanying drawings in which;

Fig. 1 diagrammatically illustrates one modification oi the invention;

Figs. 2-4 are fragmentary wiring diagrams to be referred to in explanation of their combined functions in Fig.1;

Figs. 5 and 8 are fragmentary wiring diagrams of further features of the invetnion applicable to Figs. 1 and '7; and

Figs. 6 and l diagrammatically illustrate further modifications of the invention.

Referring now to Fig. 1, the invention. hasbeen illustrated as applied to the control of a variable characteristic which may be the temperature of a furnace orheat-treating device I illustrated symbolically by the compartment or chamber it. Bymeans of a thermocouple ll, subject to the temperaturewithin. chamber i ii, a voltage applied tea measuring circuit including a galvanometer l2 controls operation of a circuit-adjusting means suchasa mechanical relay 3 which serves toadjustaslidewire resistor 44in a potentiometer circuit 15 to oppose the voltage of the thermocouple. The mechanical relay I3 also serves to adjust an index and pen 56 relative to a scale it and a chart l8 driven by a constant speed motor !9. The heating or cooling of the coinpartment ii) is controlled by means of a valve 23 for circulating a heating or cooling medium through. a heat-transferring coil 2 i.

The valve 20, which is to be taken as representative of any suitable compensating means, is operated under the control of a reversible motor 22 having forward and reverse windings 23 and 24. The motor windings 23 and 24 are selectively energized under the control of forward and reverse relays 25 and 2t energized under the contrcl of an amplifier 21, preferably of the highimpedance high-gain type. The input circuit formed by conductors 29 and 3!] of the amplifier is connected to an electrical network having a control slidewire resistor 3| mechanically driven as indicated by the broken line 32 by the mechanical relay It. In practice either the disc upon which is coiled the resistor 3!, or the associated contact, may be driven from the drive shaft of the mechanical relay I3. For simplicity and uniformity in the wiring diagram, each contact associated with a slidewire resistor of the network has been illustrated as adjustable. The control slidewire 3| forms a branch of the network and is connected through a resistor 31 to a source of supply shown as a battery 38. A variable resistor 33 controls the magn tude of the voltage applied to slidewire 3| by battery 38.

The motor 22 is not only mechanically con nected for adjustment of the valve 20, as indicated by the broken line connection 33, but also drives the contact 35a of slidewire 35 as indicated by the broken line connection 34. The slidewire 35 is connected through a resistor 39 to a source of supply indicated as a battery 40. A variable resistor 45 controls the magnitude of the voltage applied to slidcwire 35 by battery 40.

As shown, the control slidewire 3| is connected in parallel with a branch of the circuit including a resistor 4 l, a slidewire 42 and a resistor 43. One or both of the resistors M and 43 may be omitted, if desired. One side of the input circuit to the amplifier 27 extends by way of conductor 30 to the contact 42a of slidewire 42. Thus, it will be seen that upon adjustment of the contact 31a of control slidewire 3 I, the voltage E1 developed between contact 42a of Slidewire 42 and a conductor 46 leading to the contact 31a of slidewire 3| will vary. 7

The conductor it extends to and is connected to the contact of slidewire 35. The slidewire 35 is connected across a branch of the circuit incl ding resistors Fit and 51. In the circuit extending from contact 35a to the juncture of resistors H and 5| are a slidewire resistor 52, a fixed resistor 53 and a capacitor 54, these elements being in a common loop-circuit with slidewire 35.

Fig. 2 illustrates the network thus far described except that the capacitor 54 is shown as conduotively by-passed and resistors 36 and 45 have been omitted. It will be immediately seen that the system so far described and as shown in Fig. 2 will provide proportional control action. That is to say, for a given adjustment of the contact 3m of the control slidewire 3i by the mechanical relay it there will be a corresponding follow-up adjustment by the motor 22 of the valve 20 and of the slidewire 35. If the voltages respectively applied to slidewires 3| and 3 a e equal:

a given angular movement of contact 31c will produce an equal angular adjustment of contact 35a. Mathematically, for a given change in the variable characteristic, 0, the adjustment of slide wire contact 35a and valve 23 will be equal to K10, where K1 is a constant. The proportionality may be changed by adjustment of either resistor 35 or 45, Fig. 1. If resistor 36 is set to make the voltage across slidewire 3| greater than that across slidewire 35 in the circuit of Fig. l, a greater relative movement of slidewire 35 will be required to produce an increase in voltage E2 equal to the changed value of voltage E1. The foregoing adjustments are referred to as throttling range adjustments. In practice resistors 36 and 45 may be mechanically connected for simultaneous adjustment but in opposite directions to produce maximum change in throttling range and a single scale which may be calibrated in terms of per cent of scale ll.

Again referring to Fig. 2, upon movement of contact 3Ia a signal or error voltage E1 appears between conductors 30 and it which will be greater or less than the voltage E2 across conductors 29 and 4G. The difference voltage is applied to the high-gain amplifier 2? and its output may be applied either directly or through a suitable motor control or relay means 25a to produce energization of motor 22 to adjust contact 35a of slidewire 35 in a direction and to an extent to make the voltage E2, across resistors 52 and 53, equal and opposite to the voltage E1. With the voltage E1 changing and because of the high amplifier gain and the action of motor 22, the contact 35a will be driven and will continue to be moved by motor 22 to maintain voltage E2 approximately equal and opposite to voltage E1. Whenever equality is established the motor 22 is, of course, deenergized. It is to be further observed that the voltage E2 may be considered as that produced by the potential difference due to the current flowing through resistors 52 and 53'. Such a proportional action control system is not adequate for control of most processes where load demand varies and where the magnitude of the condition or the variable characteristic is to be maintained at a predetermined value notwithstanding such changes in load.

The capacitor 54 and the resistance in the circuit provided by slidewire 52 and resistor 53 introduce a correction for droop resulting from proportional action only. That'correction is referred to by those skilled in the art as reset, or droop corrector action, meaning a correction which prevents permanent decrease or offset from the control point of the variable characteristic with rising load. Mathematically, the reset action may be expressed as a correction of magnitude corresponding with the summation with respect to time of the deviation of the characteristic from a predetermined value, i. e., equal to Kzffldt, where K2 is a constant and sit is the time difierential increment. Fig. 3 illustrates the circuit of Fig. 2 within ectangle 48 with capacitor 5t between resistor 53 and the juncture of resistors 50' and 5|.

With the capacitor 54 in the circuit, the slidewire 35 will be moved by motor 22 to maintain the equality between the voltage E2 across resistors 52 and 53 and the voltage E1 between conductors 30 and 43, Fig. 2. order that the potential dilference across resistors 52 and 53, i. e., E2, shall be maintained at a constant,

them. Inasmuch as the input circuit ofamplh energized so longv as thereis departurein-the value'of the characteristie from its desired value, generally referred to as'the-control point. Ac"- cor'dingly'the adjustment of the valve2ll-arrd-of the slidewire 35 Will/be inaccordance with'the sum of, first, the deviation of thecharac'teristic and, secondly, of the summation of the deviation ofthe'variable characteristic with respect to time from its predetermined"value; 'It-is again emphasized that wl'renever the motor moves the contact 3511 relative to the slidewire 3'5 to-the position required for balance", the motor will be deenergizedi The control actionis generally by a series of steps or intermittent operations of the motor.

In order to provide rate action, that is, an adjustment of the valve 29 by the motor 22 in accordance with rateof change of the variable characteristic, there are provided the circuit connections shown-in Fig.4 to be substituted in Fig; 'Z-for the circuit within rectangle it and including the s'lidewireresistor 58 and a capacitor Mathematically, therate actionmaybe expressed by sayingtha-t there will-be-provided a component equal to where Ks is a constant. The circuit "also includes a slidewire Git and a resistor 6!. The voltage, Elm-developed across resistors 52 and "53-, with resetcapacitorfiil bypassed as-shown'r in Fig. its varied by adjustment of slidewire contact 35a of the 'slidewire 35*. Since the'voltage developed or applied to the networkbytheslidewire 35 gives rise to the voltage: E2, it will be seen that slidewire 3-5 is: included in" a loop-circuit including resistors 58, 60, Stand capacitor 62 with resistor 58 connected betweenslidewire 35 and. what may be termed anoutput. branchof the loop-circuit comprising. capacitor. 62 and re' sistors 6E] 311C126, the. voltage-Ea being developed across that branch.

The resistor 55 inthe shunt circuit-insures that there will always be incircuit with capacitor'EZ apredetermined value of resistance-even though slidewire. resistor 69 is set. to zero. The slidewire resistor 58 provides foruready adjustment of the magnitude of the rate action provided by the circuit. It will be seenz'that the resistor 58, in series in the input circuit to the amplifier, attenuates the signal E2 and that the voltageEa which: is then effective to: oppose-E1 will be the voltage which appears across that branch of the networkincludingt resistors '60 and; 61% and capacitor 62; Thus, in order that the voltage E3 between conductor 29 and conductorr-filtshall remain equal to the voltage E1, the voitagesacross resistors 52 and 53 must be made greater-and by an amount equal to the attenuation. Accordingly, the relative movement between con- :tact 35a and slidewire 3'5yasproduced by motor 2-2, willincl'u'dea-component due to the rate of E2 must-be greater'bya corresponding amount.

The greater the value of the resistor 58, the greater will be the attenuation, and thus the greater must' be the voltage E2 to inakethe voltage E3 equal and opposite to voltage E1. The greater the rate of change ofthe characteristic, thegreater will-be the rate of adjustment of the slidewire contactt'i a, and the greater must be the rate of change OfEs. The rate of change of current to thebranch of the network including capacitor 62' must 'be correspondingly increased. This in turnrequiresan increase in the rate of change in the voltage E2 which is produced by movement of'slidewire contact 350. under control ofthe motor 22. The rate action introduces a further componentwhich causes contact 35a to be moveda'n a'dditi'onal'arnount dependent upon the rate of change of E1.

I'he rate action, if excessive, may introduce oscillation into the system. That is to say, as the variable characteristic is returned to its predetermined value, the rate action may produce movement of slidewire contact 35a beyond that which is required to return the characteristic to its selected value or to" the control point.

It-has'been further found that if the rate action-is increased above a maximum desired value, the moto'r 22 will not drive the contact 35a relative to slidewire 35 at a speed which will just maintain'thevoltageEiequal to E1 but will make that voltage first l'essand then greater than that of E1. The-oscillation resulting from the excessive rate action is undesirable and has been avoided in accordance with the invention by acid line simultaneous adjustment of slidewire to in the'same direction.

Without. resistors 60 and 6! the voltage E3 would depend" entirely upon the charge accumulated by the capacitor 62. However, time is required. for the'capacitorfil to acquire a charge. By including resistance as provided by resistors 60 andffil in the'branchv including capacitor 52, the voltage is then dependent upon the rate of flow-of charging current and upon the poten-tial. of. capacitor 62. In this way the system .is stabilized, and the motor 22 drives the slidewire 35.-relative to: its contact 35a by'an amount .dependentupon. a component varying with rate of change of the'variable characteristic and there is:attainedrstabilized adjustment of the valve 23 though. including. said component proportional tot the rateof change of the variable character- 1s 10.

Ifthe. knob65. is rotated in a direction to increase the value of'the resistance of slidexvire resistor 5'8,. it will, of course, be. understood that the rate action will also be increased. However, since the resistance of slidewire resistor to will simultaneouslylhe' increased and thus will increase the resistance in'series with the capacitor 62, the time constantof the circuit including capacitor 62 will be increased. Thusyas the rate action is increased there will also'be provided an increased rate delay. Conversely, when the rate action is decreased by decreasing resistor 58 the rate delay action is likewise decreased. Stated differently, the magnitude of the rate action will depend upon the value of rate resistor 58 and the size of capacitor 62, while the time required for that magnitude of rate action to become fully effective will depend upon the product of the capacitance of capacitor 82 and the resistance of rate-delay resistors 60 and 6!.

In two typical embodiments of the invention the resistor 53 had values of 100,000 and 150,000 ohms, the slidewire 52 had maximum resistances of 50 megohms and 100 megohms. The capacitor 54 had capacities of 10 microfarads and 25 microfarads. The slidewire resistor 58 had maximum resistances of 10 megohms and 50 megohms. The slidewire 60 had resistance values of 100,000 ohms and .2 megohm, and the resistor l, a resistance of 15,000 ohms. The capacitor 62 had capacitances of 25 and 24 microfarads. It it to be understood that the foregoing are to be taken as typical values adapted for systems of controlling processes such as temperature and that they may be varied within relatively wide limits for other applications depending upon the requirements of the particular system to be controlled.

The rate action, if excessive, will tend to magnify any small fluctuations in the input signal though they be of short duration or of transient character. Such magnification of small random variations is highly undesirable. However, by the rate delay provided by resistors 60 and 6!, the magnification effect of excessive rate action on the random variations is avoided and the small transient variations do not cause large or amplified oscillations of the valve. More particularly, if the rate action is increased by increasing the resistance of slidewire 58, the

system does not magnify the random transient variations in input signals by reason of the fact its adjustment is tor 52 and resistor 53 and in series with capacitor 54. Resistor 6i and capacitor 62 then function to give a magnified signal resulting from the rate of adjustment of contact 3511 relative to slidewire 35, and this magnified signal produces stabilized operation of the servo-motor loop, the a rate action previously provided by resistor 58 being small or absent. The time constant of the circuit which produces the foregoing stabilizing action is negligibly small in comparison with the response time of the process under control. The magnified signal is applied only until the capacitors 54 and 62 acquire network balancing potentials. Stated differently, when resistors 58 and 60 are set at zero, there is for a changing potential, a low impedance path through capacitors 54 and 52 and resistor 6|. Hence, the voltage appearing across resistors 52 and 53 transiently appears across resistor 6| to produce voltage E3. As capacitors 54 and 62 are charged,

the slidewire contact 35a is further adjusted to maintain the voltage balance between E1 and E3 with the voltage across resistor 6| decreasing to zero.

The capacitor 59, Fig. 1, connected in shunt with the slidewire resistor 58 is of relatively small size and is provided to eliminate from the system effects of small rapidly changing variations in the variable characteristic, particularly those of a transitory nature. More particularly, when there is a change in position of slidewire contact 35a, the resulting voltage appearing between contact 35a and point 44 causes a current to flow through the path of lower resistance or impedance including capacitor 62, resistors 60 and 6!, capacitor 59, and capacitor 54. Thus, practically all of the voltage resulting from the new position of the slidewire contact 35a appears at E3 and thus balances the voltage E1. This stabilizing action is very helpful in avoiding motor oscillation. Since the capacitor 53 is of small size, it soon acquires a charge and its effect disappears. Thus, the effect of the capacitor 59 is temporarily to delay the effectiveness of the rate action introduced by the resistor 58.

It is to be understood that the effect of the capacitor 59 in avoidance of efiects due to the rapidly changing transient variations in the characteristic is over and above the rate delay action previously described. The rate delay avoids magnified operation of the motor 22 to adjust the valve in response to small changes in the value of the characteristic while the action of the capacitor 59 is to delay the effectiveness of the rate action so that if during the time delay introduced by the capacitor 59 the characteristic changes from one value to another and returns to its original value, the system does not respond, at least not insofar as the rate action is concerned.

Looking at the operation from a still different standpoint, the action of the resistor 58 is to require a larger change in the voltage E2 when the value of voltage E1 is increased. However, the provision of the capacitor 59 temporarily removes the effectiveness of the resistor 58 in attenuating the voltage E2, and thus all the voltage at E2 immediately appears at E3. This means that for the short initial period during which E1 has changed, E2 need not be as great as it would have to be if the capacitor 59 had not been provided.

In a typical embodiment of the invention corresponding with the values set forth above, the capacitor 59 may have a capacitance of about one-tenth of a microfarad. With the values set forth above, the time constant of the circuit including capacitor 82 and resistors BI and 60 is not the same as the time constant of the circuit including capacitor 59 and resistor 58.

There have already been mentioned the terms setting forth the proportional control action, reset action, and rate action. Those terms are from the following equation:

Where 0 is the deviation of the variable characteristic from the control point,

V is the adjustment of the valve or compensating effect in direction to return 0 to the control point,

t is time, and.

K1, K2 and K3 are constants.

Thus, the adjustment of valve slidewire contact 35a and of valve 29 Will be by an amountxde-e. pendent upon the magnitude of. each of the right.- hand terms of the foregoing equation.

The importance of the adjustmentsof the'system which have heretofore been. described will. be better appreciatedby a resumoi the manner, in which each of the components contributescto.

the positioning of the compensating means or valve 20. If it be assumed that the temperature,

of the compartment is varying like asine' wave and that at a time i=0 the temperature is at. the control point and thereafter gradually rises,

the contact 35a and the valve will be moved in a valve-closing direction. The adjustment. is

180 out of phase with the temperature.change,..

that is to say, the component due to proportional action, K16, will be maximum when the temperature has deviated a maximum amountfrom the control point and in a direction to oppose:

the change in temperatureand will againbezero.

when the temperature is again at the control point.

The component due to reset. action, namely Kzfddt, will be maximum at time i=0, inasmuchas the reset action is in accord with the cosine of 6. Thus, the reset action, lagging proportional action by 90, produces an additional movement of the slidewire contact aposition-component due to reset action Withthe temperature at the control point after a rise of temperature is maximum. Hence, at. that time the valve will be opened wider than without reset action. With the temperature at the control point after a decrease in temperature, contact 35a and valve Ell-will be moved further toward closed position than they would be in the: absence of reset action. Reset action overcomes droop, but it also aggravates the cyclic actionof a varying temperature.

The rate action, of course, is the derivativeofi sine e, which is negative cosine 0. Hence, rate action is a maximum when the rate of change of the temperature is maximum, which occurs as the temperature passesthrough the control point.- The action is in a direction to increase the move.--

ment of contact 3511, that is, so that the valve 26 is opened more than it would-be without rate action. More particularly, rate. action acts in exactly the opposite way as reset action, but rate action is advanced 90 with respect to the proportional action.

In summary, reset action depends" uponthe:

past history of variation of the temperature, and

tional action continues to close the valve, but.

the sign of the reset action changesabove the control point. It then acts in the samedirection as the proportioal action, tending to close the valve to a greater extent, so long as the temperature continues to rise. When thetemperature begins to decrease, the proportional action begins to open the valve While the reset action continues to close the valve so long as the temperature is above the control point. The combined actions may result in instability, but with" rate action acting oppositely to'the reset action The zero is required to balance E2.

10 and -with'proper'magnitude. of the respective components; the control. action as a whole is stabilized.

Referring again to Fig. 1, it willv be remembered that the control point can be adjusted by varying contact 42a of slidewire $22.

If. it is desired to utilize the system for program control that is, for change in the temperature of compartment It in accordance with a predetermined schedule, the contact 32a may be moved relative to slidewire 32 in accordance with that scheduleand the temperature of compartment Iii. willifollow. accordingly. Another Way of predetermining the control point is mechanically toshiftislidewire ti relative to contact tie, the mechanical shift or adjustment thereof being thereafter fixed'tvith respect to the drive connection 32.. This scheme is preferred in practice.

In order that. the systemv shall function with full correction of. droop it is necessary that the capacitorv b t be of high quality. By high quality is meant a. capacitor having leakage much less than normally. encountered with high-grade mica or oil-filled paper capacitors. If there is leakage at capacitor it will be at once understood that when the potential. or control slides/ire 3i balances the potential of valve slidewire there will be flow ofv current through reset resistors 52 and 53 and through the valve slidewire 3t and the capacitor. 55, thus producing a voltage or potential drop E2 which is not efiective to change the charge of capacitor 55. Thus, the potential E2 at a time when it shouldbe zero-is not zero. This is disadvantageous since a value of E1 other than In order to avoid the. foregoing difiiculties encountered with the highest grade capacitors obtainable at the time of the present invention, it was found necessary to utilize a capacitor of special design for reset capacitor 54. A capacitor constructed of polystyrene. filmin place of paper and embodying the usual. foil has. been found highly suitable for the present invention. Such a capacitor exhibits un usually high-resistance, of the order of 1,000, megohms per microiarad, an increase ofapproximately one hundred times that or" the higher grade capacitors heretofore available. ihus, the leakage at capacitor M has been reduced to a Wholly negligible value.

The foregoing aspects of condenser construction are particularly important where the time" constant of the circuit, including capacitor 5% and reset resistors 52and 53 is high. For example, it is sometimesrequired that the capacitor 54 of 10 microfaradsbe connectedin a branch of the circuit including the aforesaid resistors ad-- J'usted to valuesof the order of megohms, the circuit 'thenhaving a time constant of the order of i 1000 seconds. Of course, the corresponding time constant may likewise be provided with capacitor 53 of 1 microfarad and a reset resistance of 1000 megohms. the ratio of theleakage resistance of the 1 microfarad capacitor will be the same for the 1000- megohm resetresistor as in the previous case.

ihe branch of the network including capacitor In that case, however,

responding change of adjustment of contact 35a, the flow of current will again be through a path including resistors 68 and 5| in preference to the high resistance path including resistors 52 and 53, the low resistance path including capacitors 54 and 62 and resistors Bi] and GI. The magnification resulting is opposite in direction to the rate action which has previously been described and, hence, is called inverse rate action. With inverse rate action present, there will also be a component due to proportional action. The ma nitude of the inverse rate action will be dependent upon the ratio of the size of the capacitor 62 with respect to the sum of the capacitances of capacitors 54 and 52. The inverse rate action may be varied by adjustment of resistor 50.

If inverse rate action is desired in the absence of an immediate effect of a component due to the proportional action, the switch 68 may be opened, a switch l25 closed, a switch 69 adjacent slidewire 3! opened, and a switch closed to connect a capacitor 1| across conductors 30 and 46. The presence of capacitor ll has the effect of delaying the appearance of the voltage E1 between conductors 3i] and 46 following a change in position of slidewire contact 3la.

If it is now assumed that slidewire 3| is moved a substantial amount, without delay, corresponding to a step function, with instantaneous change of the measuring voltage, the impedance of the capacitor "H across conductors 30 and 46 will appear to be zero. A charge accumulates with gradually increasing potential on capacitor H as a function of time. The magnitude of the inverse rate action is under the control of a variable resistor 12 which upon opening of the switch 69 is introduced into circuit with capacitor ll.

If the slidewire contact 3 la is moved at a given rate, the circuit including the resistor 12 and the capacitor H will introduce the inverse rate action of a magnitude corresponding with rate of change of position of slidewire contact am.

Now that the control network as a whole has been explained, it is to be understood that the mechanical relay l3 and its galvanometer I2 may be of any suitable type such as that shown in Squibb Patent No. 1,935,732 or the type shown in WiIliams Patent No. 2,113,164. Similarly, the amplifier 21 may be of any suitable null-type, though it is essential that it be of the highimpedance null-type for slow rates of reset.

The output circuit of the amplifier may, as shown in Fig. 6, be arranged to control a relay movable from one to another selected position, or it may be arranged as in Fig. l selectively to energize the operating coils of relays 25 and 26. schematically to illustrate the latter arrangement, there is shown a transformer 15 having a primary winding connected across a suitable alternating-current source of supply 16 with a tapped secondary winding 11, the midpoint of which is connected to the amplifier 21 and the outer extremities of which are connected to the coils of relays 25 and 26. When the polarity of the input signal across conductors 29a and 30 is in one direction, one of the relays will be energized, such for example as the relay 25, to connect the motor from supply line L-l through a ciricut which extends by way of conductor 18, contact 19 of relay 25, conductor 80, contacts 8Ia of a read-valve switch 8|, contacts 82a of limit switch 82, winding 23 of motor 22, and to the other supply line L2. The arangement is such that the polarity of the input signal produces 12 energization of the motor 22 to adjust slidewire contact 35a, as has already been described, to produce the voltage E3 equal and opposite to E1.

When the input signal between conductors 29a and 30 reverses in polarity the other relay 2% is energized to connect the other motor Winding 24 from supply line L-I by Way of conductor 18, con tact 83 of relay 25, contact 84 of relay 26, conductor 85, contacts Bib of switch 81, contacts 88a of limit switch 85, winding 24 and to the other supply line L-2 for reverse operation of the motor 22.

Associated with the relays 25 and 26 are signal lights 81 and 88 which as indicated are normally energized. The signal light 8'! is energized through a circuit which may be traced from the line L-[ by way of signal light 81, conductors 89 and 80, contacts Bla and 82a, motor winding 23, and to the other line L-2. The circuit traced is of lower resistance than through resistor 90.

The other signal light 88 is normally energized by way of a circuit which may be traced from line L-l by way of light 88, conductors I00 and 85, contacts 8") and 86a, motor winding 24 and to the other supply line L2. The circuit traced is of lower resistance than by way of resistor 92.

Both lights are normally energized to indicate that the control system is functioning within its throttling range, that is with the valve 20 short of its maximum open position and short of its fully closed position. When the valve 20 is moved to one limit or the other, whether that be a fully closed or a fully open position, a cam 53 opens the contacts 8611 at one limit, while a cam 94 opens the contacts 820. at the other limit. Thus, one or the other of signal lights 87 or 88 will be deenergized or the light-intensity greatly reduced to indicate that the system is not functioning within the throttling range, this indication being certain with the motor 22 at stand-still.

When relay 26 is energized it not only closes to energize motor winding 24, but it also completes a short circuit around signal light 88, extinguishing it. Thus, there is visual indication of energization of the motor for rotation in one direction. Similarly, the closure of the motor circuit by re lay 25 extinguishes the signal light 81 for similar visual indicating purposes. If the system should be in oscillation, that is, the motor energized for rotation first in one direction and then in the other, the relays 25 and 26 will be rapidly operated between open and closed positions and the lights 81 and 88 will blink. The alternate flashing of these lights indicates presence of oscillation in the system which ordinarily can be suppressed by reducing the gain of the amplifier by a suitable gain control provided therefor. Blinking of but one light indicates normal control of the operation of motor 22.

In accordance with a further aspect of the invention, the system lends itself for determination of the position of the valve 20 at any time, though it may be remotely located from the control systern proper. The individual switches with labels RV now to be described are preferably ganged so that upon movement of the read-valveswitch 8| to open the motor circuit through the contacts Em and 81b there is simultaneously 0perated a transfer switch it] to transfer the input conductor 29a from the network to conductor l i I leading to the movable contact I I2 of a slidewire [l3 connected between conductors H4 and H5. At the same time a transfer switch I I6 is moved to complete a circuit through switch arm l I! and acceptor '13 conductor i3 conductively .to Shy-pass or .shortcircuit the output from the slidewire 31.

Accordingly, with the read-valve switch 8| in its operated position, the amplifier 21 will respond to the difference in the voltage between contact 35a of slidewire 35: and the. conductor 1 l4 and the voltage appearing between the contactv H2 and the conductor H4. If the voltage or potential between contact 35a and..contact' H2 is not zero, the amplifier will energize one or the other of relays 25 and 26. One of the'signal lights ii! or 88 will be extinguished'to indicate which relay has been energized. Ilhe si nal lights 81 and 88 have theirenergizing circuits completed through resistors fitand '92 re-- spectively upon opening of read-valve switch contacts 31a and Bib. The contact H2 will also be adjusted until the input to theamplifier is zero the completion of this adjustment beingin dicated by the lighting of both signallights 81 and 6.6. By means of a scale 3a associated with the slidewire N3, the position of thecontact 35a relative to slidewire 35 can be read on the scale 3a, thus giving an indication of the position of the valve-actuating mechanism-and of the valve 20.

In control systems of the type which have been described thus far, it is at times desirable manually to control the operation of the valve 20, particularly during the starting up of the process or during certain periods of operation where a change is desired which may be only temporary in nature, or in the event of the occurrence of abnormal conditionsv which can be best compensated for by manually controlled operations. However, with an electrical system of the type described, where charges are maintained on capacitors, it is important to maintain the system in condition for automatic operation even though there has been transfer to manual control. Otherwise the transfer from manual to automatic would disturb the process and cause considerable oscillation or hunting before the process under control stabilizes to maintain the variable characteristic at the'control point.

It is a further object of the invention-to provide for transfer from automatic to manual and from manual to automatic operation without disturbing the functioning of the system, particularly if operating to maintainthe characteristic at its control point.

In going from automatic to manual operation, it is only necessary to operate the manual-automatic switch, comprising a pluralityotswitchesv preferably ganged for simultaneous operation The latter switch I26 applies to the input circuit of the amplifier 2'! any. difference in voltage appearing between contacts H2 and a of their respective slidewires. relative to slidewire i [3 a voltage will'be applied to the amplifier which will energize one or the other of the relays 25 or 26 for operation of the motor to move the valve 20 and theslidewire 35 to balance the voltageintroduced by the adjustmentv of contact 1 l2. In this -manner the valve By adjusting contact H2:

l-d' 20 can :be moved to any position desired'and as indicated on scale I iSa.

It will be understood that the adjustment of valve 20 will affect the temperature of the compartment or the chamber 10 andthat the thermocouple H will cause operation of the mechanical relay l3 correspondingly to adjust the pointer I6 relative to scale I I.

If the operation of the valve Ell is such as to bring the temperature of the compartment I0 to the control point, that fact will be known by reading the scale ll. At that time the position ofthe slidewire contact tla will also be at the control point. Meanwhile, the position of the slidewire contact 350, will correspond with the position of the valve 28 which brought the temperature to the control point. The potential derived from slidewire contact H2 is at all times applied to capacitor 5 1. Hence, the latter will have a potential corresponding with it, and also corresponding with that of 35a. Accordingly, if the manually operable switches are returned to the automatic or A positions, the voltage at E1, being zero at the control point, will then be equal to the voltage E3 which also will be zero, and there will not be further operation of motor 22 except by change in the temperature of the compartment it from the control point. In this manner there is avoided a proportional step which might otherwise have occurred had the charge on the capacitor 54 not been adjusted during the manual operation to equal that of contact 35a.

Further in accordance with the invention, it is desirable not to switch from manual to automatic without first operating the read-valve switch to its read-valve position. Read-valve switch H6 is then operated from the illustrated right-hand position to its left-hand position. If this is first done, it will be observed that the short-circuit from the network including slidewire 3 will be removed to inject into the network the voltage E1. If that voltage is other than zero, it will appear at the amplifier 27.

Further in accordance with the invention, it may sometimes be desirable to transfer from manual to automatic without awaiting the re turn of the variable characteristic to the control point. That can be readily done without introducing a proportional-step-corrective-action in the operation of the system byoperating the read-valve switch to read-valve position 'before operation of the manual switch to its automatic position. The motor will he deenergized as before and the short-circuit across conductors 30 and 45 will be removed to inject into network the voltage E1. If that voltage is not zero as it'will not be with the temperature away from the control point, that fact will be indicated by the 'deenergization of one or the other of signal lights 81 or 88'. When that indication is received the contact i ii will then be adjusted-until compensation is had for the voltage E1. As contact H2 is adjusted it varies the potential applied to the capacitor 54 and thus changes its charge by an amount corresponding to the voltagelEi introduced because of the departure of the condition from its control point. Thus, as soon as signal lights 8-? and 88 are both lighted, transfer may be made from manual to automatic and back from the ,read-valve position without introducing an undesired proportional step intov the-operation of the system.

Fig. 51's a simplified wiring diagram of a furthermodification of theinvention with the control-point setters omitted. The potentiometer circuit CS includes the control slidewire 3| While the potentiometer network VS includes the valve slidewire 35. As already explained in connection with Figs. 1 and 4, the capacitor 54 and the resistor 52 provide reset action, the resistor and capacitor together forming a single stage of integration of the departure of the characteristic 6 from the control point. Similarly, the resistor 58and capacitor 52 provide a single stage of rate action. It is to be understood that following each stage of either integration, or differentiation, there may be added further stages either for higher derivative control or for higher integral control, or both. More particularly, in Fig. there is disclosed a capacitor 54a and a resistor 52a forming a second integrating stage followed by a resistor 53a and a capacitor 62a forming a second differentiating stage. The resistors 58a and 65a may be ganged for simultaneous adjustment as has been previously described in connection with resistors 58 and 60.. Two or more stages of rate action provide the higher derivative control, since the second stage will provide the second derivative, and so on. Similarly, two or more integrating stages will provide the higher integral control. With the foregoing in mind it will, of course, be readily understood how any number of stages can be provided either of integral control or of derivative control and in any desired combination.

In the foregoing discussion, it is to be noted that the differentiating and integrating circuits are located between the amplifier having the high impedance and the valve slidewire 35. It will be recalled that the equation including the integral term and the derivative term, equated the change in valve position in terms of the nature and extent of the deviation from the characteristic from the control point. However, in Figs. 1, 4 and 5 the differentiating and integrating circuits function with reference to the change of voltage produced as the result of adjustment of the valve slidewire 35. Thus, a differentiating circuit such as the resistor 52 and the capacitor 54, where the voltage is applied from resistor 52 to the next stage, produces an integral action with respect to the deviation of the variable characteristic from the control point.

Again referring to Fig. 1, it is to be observed that if the control slidewire 3| is moved a predetermined amount as a result of a low temperature, the valve 20 will be eventuallymoved to wide-open position as a result of the combined control actions. If such a low-temperature condition should prevail for a sufiiciently long time, the capacitor 54 will acquire a charge equal to the voltage between the contact of slidewire 35 and the juncture of resistors 50 and 5|. Hence, there will be no current flow to develop 3, voltage or potential drop across resistors 52 and 53 to oppose voltage E1. If the temperature should thereafter increase, the valve 20 would not be moved towards closed position until after the temperature of the compartment I0 again attained the control point and the polarity of the voltage E1 reversed. Such charging of the capacitor 54 to its maximum value corresponds with a shift of the throttling range to such an extent that the lower limit of the throttling range is coincident with the control point. Obviously, such a control system when applied to batch processes would cause undesirable over-shooting of the control point. What may be referred to as a rate-of-approach setter is provided to overcome the foregoing difficulty.

In accordance with the modification of Fig. 6, a rate-of-approach relay I35 operates upon a predetermined departure of the characteristic under control below the control point fully to open the valve 20 and to limit the charge that can build up on reset capacitor 54. This arrangement limits the amount that the throttling range can be shifted.

The operation of the relay I35 is under the control of a device operable by extent of controlslidewire movement, as by a traveling nut I36 movable lengthwise of a threaded rod I31 rotated by the mechanical relay I3 or other condition-responsive device. When the temperature has decreased a predetermined amount the nut I36 will first engage a cam I38 to close contact I39. Thereafter, the nut, I35 engages a cam I40 to close contact I4I. When the latter is closed there is an energizing circuit completed for the operating coil I42 of relay I35 which may be traced from supply line L-I by way of conductor I43, contact HI, and by way of relay coil I42 to the other supply line L2. The relay I35 is then energized to close its contacts I35a, I35b, to open its contact I350 and to operate the contacts I35d to energize the motor winding 24 for operation of the motor in a direction to open the valve. The motor is deenergized by a limit switch not shown in Fig. 6, but which has been. illustrated and identified as 86a in Fig...1. The contacts I35a complete a holding circuit for the relay I35 by way of contacts I39. The holding circuit is effective to keep the relay energized during rise of the temperature from its predetermined low value and over any selected range thereof. Thus, the length of cam I40 with reference to the longitudinal axis of the screw I31 is less than that of cam I38. In practice there are provisions for adjustment of the slidewire position at which contacts I4I close and at which contacts I39 open.

When the contacts I 351) close, a predetermined potential is applied to the capacitor 54 under the control of the setting of the contact of a rate-ofapproach slidewire I44 as by an adjusting knob I45. Thus, the potential of the capacitor 54 may be predetermined and selected as may be desired and in manner which will prevent overshoot of the variable to be controlled depending upon the particular requirements of the process to which the system is applied. As relay I35 is energized, contacts I35e and I351 are closed, a

crank arm I45 being shown in Fig. 6 diagrammatically operating the contact through a connection I41. Contact I35e short-circuits the resistor 58 and capacitor 59, while the contact I35fshort-circuits the input to the amplifier 2T. Notwithstandingthe amplifier will not have an output current for operation of a relay I48 through energization of its operating coil I49, the movement of the valve 20 to its fully-open position will cause the temperature to rise, and the mechanical relay I3 in response thereto will adjust the slidewire 3I and simultaneously move the nut I36 in a direction away from the cams I38 and I40. After the temperature has risen a predetermined amount the contacts I39 will open and the relay I35 will be deenergized. Each by thezset'ting of the'contactfrelative to the slidewire I44. .Hence,;the systemhasbeen'made effective to initiate a closing movement of .the valve 20, notwithstanding the fact that the temperature may not have arrived at the control point. This :avoids overshooting the control point.

vfInFig. 6, the relay I43 replacesthemelays 2'5 and .26 of Fig. 1 in manner well understoodxby those skilled in the art. Relay 1-48 is normally biased to a mid-position, and when the amplt fier output rises a predetermined amount an energizing circuit for motor "winding 2:3 :is completed, and when .the energization of 40011 (Hi9 decreases a predeterminedamountthe other 'motor winding 25 is energized. In other words, when there is a zero input signal to the-:amplifler 2'! the contact 148a of relay 1 4B "occupies a midposition between its stationary contacts.

.In thearrangement oi Fig. '6, the operation of the *systemto predetermine the 2 chargeuon the capacitor M'Jduring a'period in which'rthe valve Ellis in open position over a longperiod of time depends upon the movement of the controlslide- Wire :3I to a lower limit, that is, a limit which corresponds with a predetermined low -'tempera turein the compartment Ill. In -a system of the type shown in Fig. 6 the valve 2'9 may be moved to fully-open position without corresponding movement of the control slidewire 31 by an amountwhich would produce operation of the relay I 35. More particularly, if there should occur a persistentdeviation of the condition under control from the control point and'that deviation should be'maintained over along period of time, the valve .23 will be moved and kept. in fully-'openposition though the deviation from the control point and, hence,'the movement of slidewire'3l may be but a slightamount.

The disadvantages mentioned above in connection with Fig. 6 have been overcome in :the arrangement of Fig. 7 where the charge onthe reset capacitor d does not depend .uponthe departure of the condition from the desired 'control 'pointby a predetermined amount tbut, on the contrary, does depend uponthe length of time the valve 2:);has been moved to one ilimiting position or thexother. 'Moreparticularly, .if it is assumed that the motor windingril l energi'zes the motor 22'to open'the valve 2il, it will be'observed'that after operation of the-valve to it iully-open'position; the motor will be de energized 'due'to the operation of lirnit'switch 88, shown in Figs. land 7. In accordance with the present embodiment of the invention, the motor circuit isnot only open-ed, but also there is completed an energizing circuit through-the contacts 86a, 33b for an operating coil TI5II of a timing relay. If the valve 23 "remains in the openpositionbeyond the time intervalset for the closing of 'relay "I59, the relay willbe energizedito close a'circuit for the operating-coil 'l5l of 'a relay I521toclose itscontactsldZatto apply to capacitor 54a voltage determined-by thesetting of contact M ia. relative to thezslidewire I44 inxmanner described in connection withFig. 6. Preferably a'resistor I 53 is 'included'tinthe charging *rcircuitfor capacitor 5 4' topredetermineethe rate "of charging of capacitort l. .At .the'same timethat contacts I522) are opened and icontactsl52a close,the'relay I52 "operates through crank' arm I5 l'to transfer the connections'sun'der the =-control of switch elements 152-0 and 152d. Thecontact ItZ-d completes adischargezcircuit forcapacitorstE whichmayibetraced.throughrej Sister-1H :and slidewire :60 and'atresistor I 55 which has been-included to control the rate of discharge.

Insteadofshort-circuiting the input of the amplifier as ,in the case ofFig 6, there is provided in Fig ,7 a'voltage divider including the resistors I56 and I5! for attenuatingthe voltage appearing between the ;contact of valve slidewire 35 and the contact of the rate-of-approach slidewire I.

The timing relay [50 also completes an-energizing-circuitrforthe operating coil I58 of a relay which is immediately energized to complete a short-circuit connection with respect to re-' sistor58.

Withthe system connected as described, it will be seen that there -is continued application to the input circuit of the amplifier, signals due to any difference in voltage'appearing as a resultof the positioning of the :contact 3 la relative to con-- trol slidewire 3| vandthe-position of the contact 35a relative to valve slidewire 35.

ference between contacts of slidewire Hit and contactaof valve'slidewire 35divided by the'voltage dividing network-including resistors I56 and I5'I'which opposes the voltage developed by control s1idewire3l. When-theforegoing difference in voltage applies an inputsignal to theiamplifier of opposite-polarity, the relay 25 is energized to complete a circuit'for themotor winding 23 for rotation of the valve 20 :in a valve-closing direction. It is to be remembered that while the. motor 22 is denergized by reason of the operation of the limit switch 136 to open its contacts 86a, the relay'switch continues to be energizedby reason of the output from the amplifier M.

v I-Ioweven-as soon as the reversal occurs, therelay 26..is deenergized which thereupon deenergizes the timing-relay 15,0 whichdeenergizesthe operatingcoil I5I of relay I52, which thereupon moves to :the position shownon the drawing. At the same-time:thetimingrelay I 50 is deenergized, and after'a-short time interval-it opens itscontacts to deenergizethe relay I58. The return of the relay I52 to theillustrated position returns theisystem to its normal position except for the rate action'provided' by capacitor :62 and resistor 58. ,Rate action is not immediately reestablished since-the relay I58 continues to be energized to short-circuit the-rate resistor58. However, after the expiration of the time interval, long enough forvoltage equalization to take place as between capacitor 54 and rate capacitor 62, relay I58 is deenergized to reestablish rate action. The system as a whole then automatically functions as has already been described. 7 The'advantages of the system of Fig. 7 will be apparent since'it operates in conformity with the time that the valve 20 is at one limit or the other. In the foregoing description the operation has been with reference to a fully-open position of' .therehas vbeenavoioled entirely the use of the relays, timing devices, etc., described in connection with Fig. "7. "For many applications the simplifiedsystem-of Fig. 8 will be preferred, which isthewsamesas Fig. 4 except for the addition of a rectifier I59 connected from the contact IBM of a The inclusionofithe:rate ofeapproach slidewire I4 3 introduces'a voltage which rmeans that it is the voltage dif slidewire I50, referred to as a rate-of-approach setter. It may be provided with an associated scale I60b for ease in predetermining the voltage between its contacts IBUa and the conductor it. During normal operation, the charge on capacitor 54 will determine the potential of conductor IBI. So long as conductor IGI is positive with respect to contact I50a there will be no current flow through the rectifier I59 which should be of as high an impedance as possible, in the reverse direction of flow, counter to that indicated by the arrowhead. However, whenever the potential of conductor IBI as determined by capacitor 54 becomes negative with respect to contact I60a, current will flow in the low-impedance or forward direction of the rectifier I59 and, thus, will limit the charge of capacitor 54. That is to say, the charge on capacitor 54 will be limited so that conductor "H can never become more negative than thesettingof contact IBM. 1 Thus, the system of self-regulating, is exceedingly simple and highly advantageous from the several aspects which have been mentioned. For proper opera tion, it is desirable that the impedance in the forward direction of the rectifier I59 be low as compared with the impedance or resistance through the path including resistors 52 and 53.

High impedance amplifiers of the type shown in Williams Patent No. 2,367,746 may be used for amplifier 21. While the slidewire contacts have been referred to as adjustable, it is to be understood that either the slidewire contact or the slidewire, or both, may be relatively adjustable and in the claims the reference to adjustment to introduce as by a rectified output a change in voltage in the network corresponding with that produced by slidewire 3i or 35. understood that where in the claims reference has been made to a networkhaving an adjustable circuit element such-as the slidewire or'the slidewire 3|, that the definition goes to the ad'- justability as between each slidewire and its associated contact and the loops or meshes when re-' ferredto as including such adjustable elements defines the adjustable portions thereof included.

in such loops or meshes. Relative movement between either of contacts 3m and 35a and its associated slidewire 3I and 35 does change the voltage from the respective slidewire contacts and.

the conductor to which each extremity of the slidewire is connected, as well as the voltage of any other suitable reference point, such as the reference point 44 of Fig.: 1 for slidewire 35 and the reference point wire 3 I. i

It is also to be understood that certain features of the invention may be used without other features thereof. For example, the system for manual control of valve 20 with the method and apparatus for applying a voltage or potential difference to reset capacitor 54 to prevent a proportional step not due to unbalance of the measuring system is useful in the absence of rate action in th system. Similarly either rate action or inverse rate action may be employed. The signalling system can be utilized in the absence of the read-valve" provisions but it has added utility when used with them.

It is to be further or contact 42a for the slide- 20 While preferred embodiments of the invention have been described, it is to be understood that further modifications may be made within the scope of the appended claims.

What is claimed is: 1. The combination set forth in claim 25 in which there is provided means for short-circuit ing said rate resistor and said capacitor of small size for reversing the sign of the rate action produced by said rate capacitor an said rate-delay resistor to provide inverse rate action in the system.

2. A control system including a device for controlling the magnitude of a characteristic upon departure from a predetemiined value including a valve slidewire, a reset capacitor, and a charging circuit between said valve slidewire and said reset capacitor including resistance of relatively high value, a charge-limiting circuit for said capacitor including a source of potential and a rectifier connected therein with a polarity such that its impedance is low in the forward direction as compared with the impedance of said charging circuit for flow of current to said capacitor in a charge-reducing direction whenever the charge exceeds a predetermined value, said rectifier having a high impedance to current flow in the reverse direction to limit flow of charging current to said capacitor by way of said charging circuit.

3. A control system including a device for controlling the magnitude of a condition upon departure from a predetermined control point, a balanceable network unbalanced upon departure of said condition from said control point, a condition varying means operable in a direction to return said condition to said control point upon deviation thereof, a reset capacitor, said network having a charging circuit for said capacitor for introducing a correction to overcome droop, means including a switch operable upon departure of said condition in one direction by a predetermined amount to connect said reset capacitor to a charge-limiting circuit to predetermine the charge upon said reset capacitor, and a second switching means effective during return of the condition towards its predetermined value for maintaining said connection to said charge-limiting circuit.

4. The combination set forth in claim 3 in, which the system includes a differentiating circuit for introducing rate action into the operation thereof, and means operable under the control of said first-named switch for removing from said network the rate action during the time the charge on said capacitor is limited to said predetermined value and until operation of said second switching means.

5. A control system for positioning a condition-controlling device comprising a balanceable network adapted to be unbalanced upon deviation in the magnitude of a condition from a predetermined value, said network including a reset capacitor, a rate action capacitor, and a rate-ofapproach setter, the combination of means operable upon operation of said condition-controlling device to a predetermined position for completing a charge-limiting circuit to said reset capacitor, means including a, timing device operable after a time interval for rendering ineffective said rate action capacitor, said charge limiting circuit again becoming ineffective upon reversal of movement of said condition changing device immediately to render said reset capacitor effective, said means including said tim- 21 ing fievice :beingeffective =a'i-time interval atheroatter alto :again. :make sai'd rate action fcapaoitor effective.

6. frhe icombination set ':forth in claim in which there is included an ramplifier shaving an input :circuit, a voltage idivider :connected linto said network nunder the slcontrol Of said :fiTSlrnamed means fori-applying i to Ssaid iinpiu't 'rcir-cuit of :said amplifierra:portionionly' Ofxthewoltagedeveloped in :saidtnetwork :for @opp'osing athe'voltagedeveloped by thezcontror'slidewire.

L7. :In :an "electrical a. system 30f controlling :tlie position Of -:a compensating mean 1:110 'fmaint'ain a variable characteristic at ca :predetermined value, the x'combination-of "an Celectrica'l :network for'tproducing a voltage which varies: in :accorde'mcewith position of said:compensating means, driving means for isaidcompensatingi"means, a switch for disablingasaid fdriving means to-maintam i-the said T'compensating mean at i'standstill, an adjustable circuit. element in :said :networ-k, means' operabl-e with 'saidr'switch for iconnecting said adjustable element to produce a-second'volt- *age opposing "-said first-named voltage, and .a scale :associated with 'saidsadiustable element -for indicating position-of saidwzcompensating means when said second 1 voltage is -'.equal :to said :firstnamed voltage.

8. The "combination ':set :2 forth in claim '7 "in which i said driving means is runder 2 the control oran wamplifier having an Joutputt circuit, including usignalling smeans ;for normally indicating directionfof rotation of said:driving means-said signalling meansgr'emainingefiective.uponzoperation;.o'f saidswitchrtoadisable saidmdrivingrmeans for. indicating t whenesaidssecond r voltagezis :1 equal to said first-named' voltageznotwithstanding "the disablement of f said =ldriving:means.

-9., In an electrical system :of controlling the position of a compensating means to-:maintain 1 circuit controller for disabling said driving means, for short circuiting said' first voltaga and fortransferring said second voltage to the input circuit of said amplifier by-'-way of a -separate circuit, an "adjustable circuit element in said separatecircuit for developing a voltage-in opposition to said second voltage, signalling means connected'to the output'circuitof said amplifier, and a scale associate'd with said adjustable circuit ilement for indicating the position of said compensatingmeanswhensaidsignalling' means indicates zero output of said --ampliiier.

10. In a system for controlling the "positioning of a gqdaritity-contrblling means 'to effect compensatory"'change's in acharacteristic of a quantity in responseto-variationsthereof the combination comprising'a balanceable network unbalanced byichange in said quantity from a predetermined value, a rate resistor and a rate capacitor in dijiierentbranches of "said network for producinga"compensatingadjustment of said quantity controlling means in"accordance-with theratebfchangepfsaid quantity,a*'rate-'delay resistor an :series in r'said :branch :including said rate :icapacitor for varying "the ::time to": attainment :of the :maximum :corredtion adue :ito irate action, :means :ior :simultaneously tvarying fsaiid rate resistor and :said Irate-delay :Jresistor to change in the same direction 'thestresistances thereof :in their respective branches: for-increasing and decreasing :the Tate :action with simultaneous increase and decrease otthe': rate-Ldelay, and aacapacitor of: small ;-capacitance :connected in shunt with *s'aidyrate .r resistor :for fpreventing magnification by -:-rate :action :..of departures .:.of said quantity :from said: predetermined value so! durationrless than the predetermined @value.

11. In a system of controlling the position- 'of a compensating-means to .maintain a variable characteristic at: a: predetermined value, the combination of a balanceable-electrical controLnetwork having a first circuit-adjusting"element-for applying -to-said. network :a 1 first voltage varying with the magnitude "of said characteristic, 7 a .-secoutput circuit, signalling vmeans operable under the control of said output'zcircuit for indicating when said network is in balance meansforrdisabling said compensating means while-isaid signalling means remainefiective, :and a voltagevarying scircuite'element Ifor varying said second voltage without changing the position of 'said second circuit adjusting element to bring 'sai'd networkiinto balance :thereby to predetermine the chargewon said .rese't "capacitor preparatory to "return 'of adjustmentof said i'second'relement to said driving means.

12. In a sy'stemof controlling"the -posi-tion of a 1 compensating means 2 to maintain *a variable characteristiczat apredetermined value,the1combination ofa balanceableelectricalnetwork, a

first -circuit-element for applying to said'network a first voltage varying with themagnitude of 'said characteristic, a second circuit-element for applying to said network-a second voltage'which varies in'accordance with'the position of said compensating means to balance said network, a resetcapacitor included 'ina r circuit ofTsaid :network to' modify the voltage balance of said notwork to overcome droop,the "voltage -applied to said reset capacitor varying at leastinpart with adjustment of said compensating means, driving means for said compensating means, means vtor disabling said "driving means to maintain said compensating 'means at standstill, and an ad- *justable "third i'circuit-el'ement ior varying said second voltage to balance said :network while sai'd' compensating means and said second circuitel'em'ent are in network-unbal'ancing' positions" to predeterminethe charge of -said reset capacitor prior to restoration "of operation of said driving means.

13. The combination set forthin claim712 in whichsaid "driving means 'is under'the control ofa'n amplifier having an input circuit: response to unb'alance-of -sai'd 'network "andan output circuit includingsignalling means for normally in-- dicating the direction of rotation of said driving means, said signalling means remaining efiective upon disablement of said driving means to indicate when said network is balanced whereby said driving means may be made effective with said network in balance and said characteristic atother than its predetermined value.

, 14. In a system of controlling the positionof a compensating means to maintain a variable characteristic at a predetermined value, the combination ofa balanceable electrical network, a first circuit-element for applying to said network a first voltage varying with the magnitude of said characteristic, a second circuit-element for applying to said network a second voltage which varies in accordance with the position of said compensating means to balance said network, a reset capacitor included in a' circuit of said network to' modify the voltage balance of said network to overcome droop, the voltage applied to said reset capacitor varying at least in part with adjustment of said compensating means, driving means operable in accord with unbalance of eration of said driving means under the control of said network;

15. Ina system of controlling the position of a compensating means to maintain a variable characteristic at a predetermined value, the combination of a balanceable electrical network, a first circuit-element for applying to said network a first voltage varying with the magnitude of said characteristic, a second circuit-element for applying to said network a second voltage which varies in accordance with the position of said compensating means to balance said network, a

reset capacitor included in a circuit of said networkto modify the voltage balance of said network to overcome droop, the voltage applied to said reset capacitor varying at least in part with adjustment of said compensating means, driving means operable in accord with unbalance of said network for operating said compensating means, a manually adjustable circuit-element for unbalancing said network for manual control of said driving means, switching means for removing from said network said first voltage during manual adjustment of said compensating means, means for disabling said driving means to maintain said compensating means at standstill and for operating said switching means to re-apply said first voltage to said network, said manually adjustable means being operable to vary said second voltage to balance said network while said compensating means and said second circuit-element are atstandstill and in networkunbalancing positions to predetermine the charge or said reset capacitor prior to restoration of operation of said driving means under the control of said network.

16. In a system of controlling the position of a compensating means to maintain a variable characteristic at a predetermined value by change of the voltage balance of an electrical network, the method which comprises applying to said network a first voltage varying with the magnitude of saidcharacteristic, applying to said network a second voltage which varies in accordance with the position of said compensating means to balance said network, capacitively varying the voltage balance of said network to overcome droop, removing application tosaid network of said first voltage, manually adjusting said compensating means to control said characteristic by unbalancing said network, with said compensating means at standstill again applying said first voltage'to said network, and while said compensating means remains at standstill varying said second voltage to balance said network to predetermine the magnitude of said capacitance variation of said voltage unbalance prior to restoration 'of'operation of said compensating means under control of the voltage balance of said network.

17. A system of controlling the setting of a compensating means to maintain a variable cordance with the setting of said compensatingmeans, said network including first and second resistors and a capacitor in series in a loop-circuit including said second adjustable element,

said second resistor and said capacitor being connected in an output branch of said loopcircuit with said first resistor between said branch and said second element to attenuate said opposing voltage, driving means for changing the setting of said compensating means,i

means including a high impedance amplifier having an output circuit for controlling the operation of said driving means and having an input circuit responsive to the voltage difference between said controlvoltage and the voltage appearing across said output branch of said loopcircuit, the attenuation of said opposing voltage by said first resistor introducing into the oper-- ation of said driving means a rate-control component varying in accordance with the rate of change of said variable characteristic, adjust-- ing means for changing the value of said first resistor to adjust the magnitude of said ratecontrol component, and a driving connection between said adjusting means and said second resistor operable with change in the resistance value of said first resistor to change in the same direction the resistance value in said branch circuit of said second resistor.

18. A system of controlling the setting of a compensating means to maintain a variable characteristic ata predetermined valuegcomprisingi a balanceable electrical network having a first adjustable circuit element for applying to said network a control voltage varying with the magnitude of said characteristic, a second adjustable circuit element for applying to said networkan opposing voltage which varies in accordance with the setting of said compensating means, said network including first and second resistors and a capacitor in series in a loop-circuit including said second adjustable element, said second re-l sistor and said capacitor being connected in an output branch of said loop-circuit with said first resistor between said branch and said second element to: attenuate: said opposingvoltage; driving means for;- changinge-thea setting. of said compensatingmeans; meansincluding ahigh impedance amplifier having :an output circuit'for controlling the operation of saigdriving means and having an inputcircuit responsive to the voltage difierence between. said: control. voltage and the voltage appearing across saidoutputqbranch of; said loop-circuit; the atten-uation. of said opposing voltage byysaid-jfirst resistor; introducingintothe operation of said: drivin means. a;. rate.- control component varying. in. accordance-: with the; rate of; change of said- .variable characteristic, adjustin means: for changing; the: value: of said. first resistort to adjust the: magnitude.- ofv saidv ratecontrol componentza .drivingiconnection between saidgadjustinggmeans and said second resistor operable with change in the resistance-.value-of said first;res i st or; to change in the samedirection the: resistance value in: said branch circuit of: saidsecond resistor and, second. capacitor in shunt withsaidfirst.resistor-havinga capacity which is, small relative. ,tqthat of said firstcapacitol nt o cin tQ:. t.he peration of said driving; meansa negative rate actionuponchange of; the rate: of change of said; characteristic.

A; s tem o co trolling the; sett of a cqmpensatin means; to, maintain a variable haracteri 10 at a pr determined value, comp ing; a; balanceable; electrical network having a fir t.adlus a a ir uitclcm nt for applyin t a d netw r. ontrol olta e varyinswi h h ma n t de Q id chara teris ic. ond edj ustablecircui-tel H tafor; applying to .saidnetwork. an-.oppes1ngg. voltag which; varies in accordance; withthe; setting;- of.;: said; compensating means. id networkipcludin a resetcapacitor and/a1, reset; resistor; connected. inya first. loopcircuit including; said second circuit element, said network including first and second-resistors and a, capacitor in seri es.-ir 1- a second loop-circuit including. said reset resistor; said second resistor andv said. capacitor being-connected. in an output branch-of said secOndloop- 'rcuit, with said first resistor between said;branch; and said second elemcnttc attenuate said. opposing voltage, driving means for changing'thesetting of. said compensating means mQfiDSaincludi-ng a highrimpedance amplifier-having an" output;circuitior. controlling the operation ofi said-driying; means; and having antinput. circuit responsive; to thevoltage .differential" between} said control voltage an'd'the volte? gppsal f n a rosszsaidaoutput; branch of. said second, locpecircuit, said; resetacapacitor. and said reset resistorintroducing into. the... operation of Sa d: rivinemeans. acontrol. component repree sentativew the summationof. departure of said characteristic.frommsaid.predeterminedvalue and the: attenuation ofisaidzopposing voltagelby said first resistor introducing into the. operation of said driving meansa control componentvarying in accordance with; the; rate of. change of; said variable characteristic: adjusting means. for changing the; valuebf. said. first. vresistor to, adjust. the magnitude. of said rate-control, component, and a driving connection, between said adjusting means and. said second resistor operablewith change-.in- -the resistance value of said firs r s t ntdchangein the sameidirection the resistance. value in saidbranch, circuit ofv said OOIldJZQ S Q F 20., A; system: of; controlling; the. setting. of a compensating means to maintain avariable c ar cter s i s t a. aredetemiinedv value, comprisin a; hailallqcahle: electrical network havin a--first iadjustable circuit element. for -applying-:.to said network a controlvoltagevarying.with:the magnitude of said: characteristic a. second adjustable circuit. element; for" applying: to. said networkan opposing voltage which varies: in accordance with the .settings of: said. compensating means; said networkincludingaresetcapacitor and a ',reset'-jresistor.: connected; in' aafirst loop-circuit; including; said: second. circuit element, said. networlc including: firsta and. secondresistors anda capacitor: in: series: in a. second loop circuit' including saidi reset: resistor; said second resistor and: said: capacitorz beings. connested in. an i output branch of said. second loopcircuit, with. said first resistor: between: said branch and: said second: element: to: attenuate said-opposing voltage; driving meansafor-changing. the setting of; said' compensating means, means including: a: high impedance amplifier having an. output circuit for: controlling. the operation of: said driving meansaand having an input circuit responsive to thevoltageedifierence between said control voltage. and: the. voltage appearing across said output: branch of 'saidzsec- 0nd loop-circuit; .saidzreset capacitor: and said reset resistor introducing. into the. operation: of said' driving meansa: control. component representative ofthe summation ofi.'departure..of*said characteristic from. said. predetermined value, and the..attenuation of saidaopposing-voltage by said first resistor introducing. into .the operation of said driving means a control componentivarying. in: accordance withith'ei rateeof change of said variable characteristic;v adjusting; meansior changing. the value of: said first: resistor *to adjust the magnitude; of: the rateacomponentgza driving. co n tion between said adjusting. means and" said. second; resistor operable with change in; the. r sistance;. value. or said 1 first; resistor: to change in the; same direction the resistance value insaid branch circuitof said'secondi resister, and a second capacitorinshunt with said r t. si tor av n a capacity whichwiszesm -l relative; to-that ofsaid first capacitor forintro-.- ducing; negative rate action into -the;..operation-. of ai d vin u on: hange: of: the. rate. of ha e of: saidhar c stic.

2 1: A system; of: controlling the; setting of: a compensating means to maintaina. variable characteristic of as. quantity.- of a: process at. a predetermined. value; the :response: time of. said process after; change; in. the-.-setting; of; said: com:- l lfi ldaqti igs meanstbcingrrelatively: long; comprising. a balallceable v electrical network: having: a first .adl' lstablercircuit element; for. applying: to said 1 networka. controlvoltage "varying with the agnitude: of; said characteristic, a. second 'adjustable circuit. element. for applying to said network an opposing voltage whichtvaries in accordance with the. setting of saidcicompensating means; saidznetwork including. a reset capacitor anda; reset resistor oonnectedtin a first. loopcircuit including. said: second circuit element, said network including: first; and. second" resistors and; arate capacitor. in series in a second'loopcircuit including. said second adjustable element; said second resistor and said ratecapacitor being cQZmEQEBQ. in an: output" branch .of. said. second loop-circuit, with... said resistor. between said. branch and said; second; element to attendate. said opposing voltage. driving; means for changing the setting; of; said; compensating means; means 1: including-a. highiimpedance. am-

an input circuit responsive to the voltage difference between said control voltage and the voltage appearing across said output branch of said second loop-circuit, said reset capacitor and said .reset resistor introducing into the operation of said driving means a control component representative of the summation of departure of said characteristic from said predetermined value and the attenuation of said opposing voltage by said first resistor introducing into the operation .of said driving means a control component varying in accordance with the rate of change of said variable characteristic, said first resistor and said rate capacitor having values providing a time constant adjustable from a value approaching zero as a limit to a value approaching the response time of the process, adjusting ,means for changing the value of said first resistor to adjust the magnitude of said ratecontrol component, a driving connection between said adjusting means and said second resistor operable with change in the resistance value of said first resistor to change in the same direction the resistance value in said branch circuit of said second resistor, and an additional resistor included in series in said output branch of said second loop-circuit for stabilizing operation of said driving means when said first and second resistors have been adjusted for inclusion of minimum resistance in their respective circuits, said additional resistor being of relatively small size.

22. In a system of controlling the setting of a compensating means to maintain a variable characteristic at a predetermined value, a balanceable electrical network comprising a first circuit element for applying to said network a control voltage varying with the magnitude of said characteristic, a second circuit element for applying to said network an opposing voltage which varies in accordance with the setting of said compensating means, driving means for changing said setting of said compensating means, means including a high impedance amplifier having an input circuit responsive to voltage unbalance of said network and an output circuit for controlling the' energization of said drivingmeans to maintain approximate balance of said network, said network including first and second resistors and a capacitor in circuit with said second element, said second resistor and said capacitor being connected in a branch extending across said second element, with said first resistor between said branch and said second element to attenuate said opposing voltage to introduce rate action into the operation of said driving means in accordance with the rate of change of said variable characteristic, adjusting means for changing the value of said first resistor to adjust the magnitude of said rate action, a driving connection between said adjusting means and said second resistor operable with change in the resistance value of said first resistor to change in the same direction the resistance value in said branch circuit of said second resistor, a second capacitor having a capacitance small in comparison with the capacitance of said first capacitor connected in shunt with said rate resistor for preventing introduction of said rate action into the control of said driving means by random transient changes of either said control voltage or of said opposing voltage.

23. A system for controlling the characteristic of a quantity of a process comprising a balanceable network, control means for producing in said mined by the magnitude of said characteristic, follow-up means for producing in said network an opposing voltage, means for varying said opposing voltage upon change of said first voltage, a reset capacitor and a reset resistor of high impedance connected in series-circuit relation with said follow-up means, a rate resistor, a rate capacitor, and a rate-delay resistor connected in series-circuit relation with respect to said reset resistor, and a stabilizing capacitor connected in shunt with said rate resistor for counteracting rate action arising in response to transient changes of short duration of said control voltage, said stabilizing capacitor having a capacitance which is very small compared with each of the capacitances of said reset capacitor and of said rate capacitor.

24. The combination set forth in claim 23 in which there is provided a driving connection between said rate resistor and said rate-delay resistor for simultaneous adjustment of each of them to vary their respective resistances in the same direction in their respective circuits.

25. A system for controlling a characteristic of a quantity comprising means including a relatively adjustable contact and a control slidewire for producing a control voltage whose magnitude is determined by the magnitude of the characteristic, means including a relatively adjustable contact and a valve slidewire for producing an opposing voltage, a network in which said control voltage and said opposing voltage are opposed, an amplifier having an input circuit responsive to the difference between said voltages and having an output circuit, meansconnected to said output circuit and operable with change in output thereof for adjusting said valve slidewire in a direction to reduce the difference between said voltages, said network including a reset capacitor and a reset resistor in series-circuit relation with said contact of said valve slidewire, said network including a rate resistor, a rate capacitor and a rate delay resistor in seriescircuit relation with said reset resistor, and a capacitor of small size connected in shunt with said rate resistor and providing a low impedance path around said rate resistor for immediate development across said rate-delay resistor of changes in said opposing voltage. V

26. A system for controlling a characteristic of a quantity comprising means including a relatively adjustable contact and a control slidewire for producing a control voltage whose magnitude is determined by the magnitude of the characteristic, meansincluding a'relatively adjustable contact and a valve slidewire for producing an opposing voltage, a network including said slidewires, an amplifier having an input circuit responsive to the difference between said voltages and an output circuit for varying said opposing voltage in a direction to decrease the difference voltage ap plied to said input circuit, said network including a reset capacitor and a reset resistor in seriescircuit relation with said contact of said valve slidewire, a rate capacitor and a rate-delay resistor connected in series-circuit relation with each other and together forming a branch of the network directly in parallel with said reset resistor for introducing inverse rate action into the operation of the system, the voltage developed across said last-named branch directly opposing said control voltage.

27. A system of controlling the setting of a compensating means to maintain a variable char i529 acteristic fat Ta predetermined value,comprising a balanceable electrical networkmaving a first adjustable circuit element for applying to said network a control voltage varying with the mag- "nitude of said characteristic, a's'econd adjustable circuit element for applyingtosaid network'an opposing voltagewhich variesin accordance with "the setting of saidcompensatingmeans; said network including a reset capacitorand areset resistor connected in" an energizing circuit including said'second circuit element, driving'i'neans for said predetermined value, said network includ ing means for limiting the charge on said reset capacitor acquired through its said energizing circuit, and circuit means operable in conjunction with said last-named means after prolonged departure of said characteristic from said predetermined magnitude for rendering said charge-limiting means effective to limit the charge which can thereafter be acquired by said reset capacitor.

28. A system of controlling the setting of a compensating means to maintain a variable characteristic at a predetermined value, comprising a balanceable electrical network having a first adjustable circuit element for applying to said network a control voltage varying with the magnitude of said characteristic, a second adjustable circuit element for applying to said network an opposing voltage which varies in accordance with the setting of said compensating means, said network including a reset capacitor and a reset resistor connected in an energizing circuit including said second circuit element, driving means for changing the setting of said compensating means, means including a high impedance amplifier having an output circuit for controlling operation of said driving means and an input circuit responsive to voltage unbalance of said network, said reset capacitor and said reset resistor introducing into the operation of said driving means a control component representative of the summation of departure of said characteristic from said predetermined value, said network including means for limiting the charge on said reset capacitor acquired through its said energizing circuit, circuit means operable in conjunction with said last-named means after prolonged departure of said characteristic from said predetermined magnitude for rendering said charge-limiting means effective to limit to a predetermined value the charge which can thereafter be acquired by said reset capacitor comprising a circuit including a rectifier and a source of potential predetermining the charge said capacitor can acquire, said rectifier providing a low impedance path in a forward direction for fiow of current to prevent said capacitor from acquiring a charge above said predetermined value and having a high impedance to current flow in the reverse direction to minimize loss of charging current while said capacitor has a charge below said predetermined value.

29. A system of controlling the setting of a compensating means to maintain a variable characteristic at a predetermined value, comprising :a balanceable-network having :a ilrstadjustabie :circuit element for 'applying' to "said :network Ia control voltage varying "with the magnitude of said characteristic, a second adjustable circuit f'fo'r changing the setting :of said compensating means and for adjusting said second adjustable circuit'elementfa' high impedance amplifier having an output circuit for controlling tne energiz'ationof said rdriving means :and having an input formed :by 1 a :loop circuit including a p'air 'of conductors extending from each of' said adjustable elements, a plurality of meshes interconnecting ,said two conductors, each mesh of which includes a capacitor in the loop circuit and a resistor extending between said conductors, and a plurality of meshes each of which includes a resistor in said loop circuit and a capacitor included in a circuit extending between said conductors, said meshes respectively modifying the voltage developed by at least one of said adjustable elements in accordance with first and higher derivatives and integrals of departure of said characteristic from said predetermined value.

30. A system of controlling the setting of a compensating means to maintain a variable characteristic at a predetermined value, comprising a balanceable network having a first adjustable circuit element for applying to said network a control voltage varying with the magnitude of said characteristic, a second adjustable circuit element for applying to, said network an opposing voltage which varies in accordance with the set ting of said compensating means, driving means for changing the setting of said compensating means and for adjusting said second adjustable circuit element, a high impedance amplifier having an output circuit for controlling the energiza tion of said driving means and having an input formed by a loop circuit including a pair of conductors extending from each of said adjustable elements, a plurality of meshes interconnecting said pair of conductors extending from said second adjustable element, each mesh of which includes a capacitor in the loop circuit and a resistor extending between said conductors, and a plurality of meshes each of which includes a resistor in said loop circuit and a capacitor included in a circuit extending between said last-named pair of conductors, said meshes respectively modifying the voltage developed by at least one of said elements in accordance with first and higher derivatives and integrals of departure of said characteristic from said predetermined value.

31. A system of controlling the setting of a compensating means to maintain a variable characteristic at a predetermined value, comprising a balanceable network having a first adjustable circuit element for applying to said network a control voltage varying with the magnitude of said characteristic, a second adjustable circuit element for applying to said network an opposing voltage which varies in accordance with the setting of said compensating means, driving means for changing the setting of said compensating means and for adjusting said second adjustable circuit element, a high impedance amplifier having an output circuit for controlling the energization of said driving means and having an input formed by a loop circuit, said network including a pair of conductors extending from each of said adjustable elements, a plurality of meshes 

